Inference issue

[jginesclavero]

Hi @norro ! I'm testing the mode inference into Pilot-URJC and I dont know how it works. This is my modes file. I bring up the system and set the NORMAL mode ros2 service call /pilot/change_mode system_modes/ChangeMode "{mode_name: 'NORMAL'}".

At this point, I set the laser_resender node into a inactive mode. This node must be active during the NORMAL mode. I would hope that the inference mode would take this information and inferred that the correct mode in this situation is the DEGRADED mode, the only one in which the laser_resender is in the inactive mode. Instead of the above, nothing happens.

Am I understanding correctly how the inference works?

[norro]

I agree with your expectation. However, I am wondering why the monitor does not show any inference for the pilot system at all: state actual and mode actual is empty in both of your screenshots, which shouldn't be the case.

A reason might be that it doesn't seem to be able to infer the mode for the laser_resender, maybe it missed the parameter event of laser_resender_test param. @jginesclavero Was the laser_resender node running when you did the screenshots and was the mode monitor running right from the start so that it could observe all lifecycle and parameter events?

[jginesclavero]

A reason might be that it doesn't seem to be able to infer the mode for the laser_resender, maybe it missed the parameter event of laser_resender_test param.

Yes, this param does not exist. What is the syntax of a sub-system in the modes file if you don't want to manage any parameter of this sub-system?

Was the laser_resender node running when you did the screenshots and was the mode monitor running right from the start so that it could observe all lifecycle and parameter events?

I think so, let me check it again.

To clarify, I have used master branch to do this tests. I will test feature/rules branch in this morning. Thank you for your help.

[norro]

I see! Currently, there has to be a parameter, because otherwise the mode is invisible from the outside and can't be inferred in any way.

You may want to introduce a simple fake parameter, that is a bool for example or - to make it a bit easier to understand - a string parameter that holds the name of the mode. We stumbled upon this question before, /cc @ralph-lange.

[norro]

Is this issue still valid or can it be closed?

[jginesclavero]

We can close it.